Journal ArticleDOI
Recursive 3-D road and relative ego-state recognition
E.D. Dickmanns,B.D. Mysliwetz +1 more
TLDR
The general problem of recognizing both horizontal and vertical road curvature parameters while driving along the road has been solved recursively and a differential geometry representation decoupled for the two curvature components has been selected.Abstract:
The general problem of recognizing both horizontal and vertical road curvature parameters while driving along the road has been solved recursively. A differential geometry representation decoupled for the two curvature components has been selected. Based on the planar solution of E.D. Dickmanns and A. Zapp (1986) and its refinements, a simple spatio-temporal model of the driving process makes it possible to take both spatial and temporal constraints into account effectively. The estimation process determines nine road and vehicle state parameters recursively at 25 Hz (40 ms) using four Intel 80286 and one 386 microprocessors. Results with the test vehicle (VaMoRs), which is a 5-ton van, are given for a hilly country road. >read more
Citations
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Journal ArticleDOI
Novel Nueral Network Feature Selection Procedure by Generalization Maximization with Application to Automatic Robot Guidance
Book ChapterDOI
Lane Boundary Tracking for an Autonomous Road Vehicle
Neill W Campbell,Barry T. Thomas +1 more
TL;DR: An algorithm by which an autonomous land vehicle is able to navigate along roads utilising lane boundary markings by defining a six-parameter model of the lane markings and fitting this to the processed monochrome image using non-linear least squares techniques is described.
Journal ArticleDOI
Comparative study of chained systems theory and fuzzy logic as a solution for the nonlinear lateral control of a road vehicle
TL;DR: In this article, a comparative study of different lateral controllers applied to the autonomous steering of automobiles is presented, based on the results achieved in practical trials, using a DGPS-driven electric Citroen Berlingo in a private test circuit located at the Indus- trial Automation Institute of the CSIC (Arganda del Rey, Madrid).
Vehicle Lane Position Estimation with Camera Vision using Bounded Polynomial Interpolated Lines
Christopher Rose,David M. Bevly +1 more
TL;DR: A technique has been employed which bounds the previously detected 2 nd order polynomial with two other polynomials that are equidistant from the originalPolynomial to eliminate erroneous lines.
Proceedings ArticleDOI
An Autonomous Land Vehicle: Design Concept And Preliminary Road Test Results
TL;DR: This paper describes an autonomous land vehicle that employs road following algorithms based on conventional computer vision techniques and on neural networks that use CCD camera images as direct inputs and outputs are steering angle and velocity of the vehicle.
References
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Journal ArticleDOI
Estimation of Object Motion Parameters from Noisy Images
Ted J. Broida,Rama Chellappa +1 more
TL;DR: An approach is presented for the estimation of object motion parameters based on a sequence of noisy images that may be of use in situations where it is difficult to resolve large numbers of object match points, but relatively long sequences of images are available.
Journal ArticleDOI
Dynamic monocular machine vision
Ernst D. Dickmanns,Volker Graefe +1 more
TL;DR: A new approach to real-time machine vision in dynamic scenes is presented based on special hardware and methods for feature extraction and information processing using integral spatio-temporal models that by-passes the nonunique inversion of the perspective projection by applying recursive least squares filtering.
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